深海科技 · 全部实体（第 36 / 100 页）

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• Underwater Human-Robot Interaction via Biological Motion Identification
  crossref Junaed Sattar, Gregory Dudek 2018-12-14T02:37:46Z 置信度 0.70
• Communications for Underwater Robotics Research Platforms
  This paper presents a distributed protocol for communication among autonomous underwater vehicles. It is a complementary approach for coordination between the autonomous underwater vehicles. This paper mainly describes different methods for underwater communic…
  openalex Kranthimanoj Nagothu, Matthew Joordens, Mo Jamshidi 2008-04-01 置信度 0.72 AcknowledgementUnderwaterComputer scienceUnderwater acoustic communicationProtocol (science)
• Sensors for underwater robot vision: status and prospects
  The state of the art of underwater sensors and the near-term prospects for improved imaging systems are addressed. Both optical and sonar sensor technology are surveyed and the performances of the imaging systems are examined within the context of the requirem…
  openalex J.S. Jaffe, Jules S. Jaffe 2002-12-10 置信度 0.72 UnderwaterSonarContext (archaeology)Computer scienceArtificial intelligence
• A Guided Gaussian-Dirichlet Random Field for Scientist-in-the-Loop Inference in Underwater Robotics
  crossref Chad R. Samuelson, Joshua G. Mangelson 2024-08-08T17:51:05Z 置信度 0.70
• An Autonomous Underwater Robot Twin-Burger
  crossref T. Fujii, T. Ura 2005-08-24T14:47:54Z 置信度 0.70
• Simurv 4.1
  crossref Gianluca Antonelli 2018-04-05T02:42:23Z 置信度 0.70
• State and Perspectives of Underwater Robotics - Role of Laboratory for Underwater Systems and Technologies
  The state and perspectives of underwater robotics is presented. The role and achievements of Laboratory for underwater systems and technologies (LABUST) in this domain is described. Two LABUST projects are shortly described.
  crossref Zoran Vukić, Nikola Mišković 2019-02-12T05:33:33Z 置信度 0.70
• Full Autonomy in Underwater Robotics Systems: A Realistic Prospect?
  crossref Ali Rohan, Hamidreza Farhadi Tolie, Md Junayed Hasan, Somasundar Kannan 2025-01-16T16:37:33Z 置信度 0.70
• Three-Dimensional Stochastic Modeling Using Sonar Sensing for Undersea Robotics
  crossref W. Kenneth Stewart 2011-09-15T00:05:41Z 置信度 0.70
• Online Localization With Current Disturbances for Autonomous Underwater Vehicles Without Global References
  ABSTRACT Robust localization of autonomous underwater vehicles is conventionally performed using dead‐reckoning, but its accumulated error can be excessive for long‐term or pioneering exploration when the Doppler Velocity Log cannot maintain bottom‐lock and wh…
  crossref Cody A. Marquardt, HeonYong Kang 2026-07-15T18:16:18Z 置信度 0.70
• Surveillance of Subsea Pipelines: The Role of Underwater Robotics for Critical Assets
  Abstract The security of energy supplies is a primary objective for each country, and its relevance for national strategies has increased over time, especially after the interruption of the gas flow to Europe via the Baltic Sea pipelines in September 2022. Whi…
  crossref F. Cavallini, G. Massari 2026-04-27T00:19:24Z 置信度 0.70
• Active Classification: Theory and Application to Underwater Inspection
  crossref Geoffrey A. Hollinger, Urbashi Mitra, Gaurav S. Sukhatme 2016-08-25T08:32:19Z 置信度 0.70
• Optimization of configuration of autonomous underwater vehicle for inspection of underwater cables
  crossref N. Kato, J. Kojima, Y. Kato, S. Matumoto 等 2002-11-27T13:02:53Z 置信度 0.70
• MUSE-SLAM: Multi-Sensor Underwater State Estimation SLAM
  This paper presents MUSE-SLAM, a robust multi-sensor fusion framework designed for state estimation of Autonomous Underwater Vehicles (AUVs) operating in GPS-denied and visually degraded environments, such as underwater. The system is based on an Extended Kalm…
  crossref Larissa e S. Gomes, Paulo L. J. Drews 2025-11-24T18:56:39Z 置信度 0.70
• Analysis of underwater thruster model with ambient flow velocity using CFD
  crossref Han-Kyo Chung, Jinhyun Kim 2013-07-15T11:58:47Z 置信度 0.70
• Underwater swarm robotics review
  crossref Benjamin T. Champion, Matthew A. Joordens 2015-07-17T16:18:46Z 置信度 0.70
• Single-Beacon Based Underwater Robot Navigation
  crossref Zhong-ben Zhu, Hong-de Qin, Xiang Yu 2021-10-18T22:50:55Z 置信度 0.70
• Interaction Control
  crossref Gianluca Antonelli 2013-06-10T20:52:21Z 置信度 0.70
• Parent–child‐based navigation method of multiple autonomous underwater vehicles for an underwater self‐completed survey
  Abstract This study proposes a navigation method of multiple autonomous underwater vehicles (AUVs) where low‐cost AUVs (child AUVs) estimate their self‐states including their position, yaw angle, and horizontal moving velocity accurately thanks to a single hig…
  crossref Takumi Matsuda, Kenichi Fujita, Yuya Hamamatsu, Takashi Sakamaki 等 2021-10-10T06:31:55Z 置信度 0.70
• Dynamic Control
  crossref Gianluca Antonelli 2013-06-11T00:52:21Z 置信度 0.70
• Mathematical models
  crossref Gianluca Antonelli 2013-06-10T20:52:21Z 置信度 0.70
• Simurv 4.0
  crossref Gianluca Antonelli 2013-11-22T14:21:01Z 置信度 0.70
• Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy
  crossref Tarun Kanti Podder, Nilanjan Sarkar 2002-10-31T21:12:04Z 置信度 0.70
• Autonomous, Localization-Free Underwater Data Muling Using Acoustic and Optical Communication
  crossref Marek Doniec, Iulian Topor, Mandar Chitre, Daniela Rus 2013-07-09T07:41:26Z 置信度 0.70
• EAW-YOLO11: enhanced YOLO11 network for underwater object detection
  crossref Cong Thanh Dang, Hiroshi Sato, Masao Kubo 2025-10-04T05:52:51Z 置信度 0.70
• A new autonomous underwater vehicle designed for lake environment monitoring
  crossref Michio Kumagai, Tamaki Ura, Yoji Kuroda, Ross Walker 2002-07-27T12:02:26Z 置信度 0.70
• Buoyancy- and Gravity-Powered Underwater Robots
  This paper presents a new concept for driving underwater robots that is based on the interaction between the natural forces of buoyancy and gravity present in the underwater environment. Mathematical models are developed to simulate the static and dynamic char…
  crossref A. Baz, L. Gumusel 2007-03-04T20:24:06Z 置信度 0.70
• An Underwater Image Enhancement Method for Simultaneous Localization and Mapping of Autonomous Underwater Vehicle
  crossref Zhaojie Huang, Lei Wan, Mingwei Sheng, Jing Zou 等 2019-08-23T00:18:44Z 置信度 0.70
• Experiments in Visual Localisation around Underwater Structures
  crossref Stephen Nuske, Jonathan Roberts, David Prasser, Gordon Wyeth 2010-07-14T11:28:30Z 置信度 0.70
• A novel multifunctional underwater microrobot
  crossref Liwei Shi, Shuxiang Guo, Kinji Asaka 2011-03-05T12:53:28Z 置信度 0.70
• Supervisory control architecture for underwater teleoperation
  crossref D. Yoerger, J.-J. Slotine 2005-03-23T19:54:47Z 置信度 0.70
• Navigation for Underwater Vehicles
  crossref Liam Paull, Mae Seto, Sajad Saeedi, John J. Leonard 2018-07-09T06:09:14Z 置信度 0.70
• RDSM: Underwater multi-AUV relay deployment and selection mechanism in 3D space
  crossref Yafei Liu, Na Liu, Hao Li, Yi Jiang 等 2024-11-15T21:36:25Z 置信度 0.70
• RT2: real-time ray-tracing for underwater range evaluation
  crossref Giuseppe Casalino, Andrea Caiti, Alessio Turetta, Enrico Simetti 2011-06-24T14:25:22Z 置信度 0.70
• Control of UVMSs
  crossref Gianluca Antonelli 2018-04-05T02:42:23Z 置信度 0.70
• Review of underwater SLAM techniques
  crossref Franco Hidalgo, Thomas Braunl 2015-04-13T21:57:12Z 置信度 0.70
• Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results
  Control systems prototyping is usually constrained by model complexity, embedded system configurations, and interface testing. The proposed control system prototyping of a remotely-operated vehicle (ROV) with a docking hoop (DH) to recover an autonomous underw…
  crossref Wei Lin, Cheng Chin, Leonard Looi, Jun Lim 等 2015-12-01T10:26:58Z 置信度 0.70
• Three-dimensional optimal path planning for waypoint guidance of an autonomous underwater vehicle
  crossref Mansour Ataei, Aghil Yousefi-Koma 2014-10-24T18:11:29Z 置信度 0.70
• Optimal Trajectory Tracking of the Underwater Robot through a Clifford Algebra
  crossref Andre Schneider de Oliveira, Edson Roberto De Pieri, Ubirajara Franco Moreno 2012-12-04T00:16:59Z 置信度 0.70
• Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation
  crossref Kia Chua, Mohd Rizal 2012-03-23T19:28:06Z 置信度 0.70
• Adaptive sliding control of an experimental underwater vehicle
  crossref D.R. Yoerger, J.-J.E. Slotine 2002-12-10T14:53:10Z 置信度 0.70
• Geometric formation control for autonomous underwater vehicles
  crossref Huizhen Yang, Fumin Zhang 2010-07-22T12:07:20Z 置信度 0.70
• Cooperative localization of underwater robots with unsynchronized clocks
  Abstract This paper proposes an interval based approach for localizing a group of underwater robots with unsynchronized clocks. We use sonar communication and consider that the travel time of the sonar waves cannot be neglected, e.g. when the robots are fast a…
  crossref Aymeric Bethencourt, Luc Jaulin 2015-04-20T13:46:00Z 置信度 0.70
• Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles
  crossref Enric Galceran, Ricard Campos, Narcís Palomeras, David Ribas 等 2014-11-07T14:40:28Z 置信度 0.70
• Mobile Underwater Sensor Networks for Protection and Security: Field Experience at the UAN11 Experiment
  The EU‐funded project UAN (Underwater Acoustic Network) was aimed at conceiving, developing, and testing at sea an innovative and operational concept for integrating underwater and above‐water sensors in a unique communication system to protect offshore and co…
  crossref Andrea Caiti, Vincenzo Calabrò, Andrea Munafò, Gianluca Dini 等 2013-01-07T16:33:12Z 置信度 0.70
• A Bio-Inspired Dynamic Path-Following Control of Autonomous Underwater Vehicle
  crossref Daqi Zhu, Yue Zhao 2011-06-13T17:21:24Z 置信度 0.70
• Adaptive setpoint control of underwater vehicle-manipulator systems
  crossref Y.C. Sun, C.C. Cheah 2005-06-15T19:51:13Z 置信度 0.70
• Underwater swarm robotics consensus control
  crossref Matthew A. Joordens, Mo Jamshidi 2009-12-10T19:44:31Z 置信度 0.70
• Formation Control for Multi‐Autonomous Underwater Vehicles in Cooperative Underwater Topography Detection: Methods and Validation
  ABSTRACT A cooperative formation control strategy for multiple autonomous underwater vehicles (AUVs) is proposed for underwater topography detection and validated through field trials with the Wukong 1000 AUV. The strategy incorporates a leader‐follower commun…
  crossref Gao Rui, Jiang Yanqing, Li Hang, Gao Jingxuan 等 2025-09-02T11:51:11Z 置信度 0.70
• Development of modular autonomous robot platform for underwater applications
  crossref A. S. A. Doss, V. Dhanush Abhijit, L. Pavan Kalyan 2023-04-07T09:50:21Z 置信度 0.70
• Diver to Robot Communication Underwater
  crossref Robert Codd-Downey, Michael Jenkin 2025-09-02T17:28:56Z 置信度 0.70
• 2P1-I09 Design of an Underactuated Underwater Vehicle Using Counter Rotating Propellers(Underwater Robot and Mechatronics(2))
  crossref Kevin FREY, Gen ENDO, Edwardo F. FUKUSHIMA 2017-06-27T00:34:28Z 置信度 0.70
• Underwater UXO detection using magnetometry on hovering AUVs
  Abstract The EU‐funded project BASTA (Boost Applied munition detection through Smart data inTegration and AI workflows, http://www.basta-munition.eu ) aimed at improving underwater unexploded ordnance (UXO) detection approaches and advancing data acquisition t…
  crossref Marc Seidel, Torsten Frey, Jens Greinert 2023-02-01T10:48:52Z 置信度 0.70
• Autonomous underwater vehicles: Current activities and research opportunities
  crossref D. Richard Blidberg, Roy M. Turner, Steven G. Chappell 2003-03-15T04:28:45Z 置信度 0.70
• <scp>kalypso</scp> Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
  Abstract In fish farms, a major issue is the net cage wear, resulting in fish escapes and negative impact on fish quality, due to holes and biofouling of the nets. To minimize fish losses, fisheries utilize divers to inspect net cages on a weekly basis. Aquacu…
  crossref Marios Vasileiou, Nikolaos Manos, Nikos Vasilopoulos, Anastasia Douma 等 2023-04-18T22:11:20Z 置信度 0.70
• Robotic Perception of Underwater Plastic Bottles for Augmented Telepresence
  crossref Aaron Smiles, Changjae Oh, Ildar Farkhatdinov 2025-05-21T01:36:29Z 置信度 0.70
• Distributed Spacing Control for Multiple, Buoyancy-Controlled Underwater Robots
  crossref Cong Wei, Derek A. Paley 2022-12-14T18:11:35Z 置信度 0.70
• Design of six-legged walking robot, Little Crabster for underwater walking and operation
  crossref Jung-Yup Kim, Bong-Huan Jun 2013-11-05T20:27:27Z 置信度 0.70
• Advances in underwater mapping and their application potential for Safety, Security, and Rescue Robotics (SSRR)
  crossref Andreas Birk, Max Pfingsthorn, Heiko Bülow 2013-06-13T16:53:42Z 置信度 0.70
• Optimal Trajectory Tracking for Underactuated Systems via the Takagi–Sugeno Framework: An Autonomous Underwater Vehicle Mission Case Study
  Autonomy of underwater vehicles has become an imperative feature due to increasingly challenging deep sea mission scenarios. In particular, for trajectory-tracking problems of Autonomous Underwater Vehicles (AUVs), the use of Lyapunov theory tools in state-of-…
  crossref Georgios P. Kladis, Lefteris Doitsidis, Nikos C. Tsourveloudis 2025-04-01T11:17:57Z 置信度 0.70
• Non-visual orientation and communication by fishes using electrical fields: A model system for underwater robotics
  crossref Gerhard von der Emde, Kristina Gebhardt, Katharina Behr 2012-07-09T21:23:24Z 置信度 0.70
• Multipoint potential field method for path planning of autonomous underwater vehicles in 3D space
  crossref Subramanian Saravanakumar, Thondiyath Asokan 2013-10-05T03:54:31Z 置信度 0.70
• Self-adaptive neuro-fuzzy systems for autonomous underwater vehicle control
  crossref C. S. George Lee, Jeen-Shing Wang, Junku Yuh 2002-07-27T07:59:45Z 置信度 0.70
• Experimental study on fine motion control of underwater robots
  This paper considers thruster dead zones and saturation limits, which are nonlinear elements that complicate fine motion control of underwater robots. If the vehicle is configured with redundant thrusters, the respective dead zones and their surrounding nonlin…
  openalex A. Hanai, H. T. Choi, S. K. Choi, J. Yuh 等 2004-01-01 置信度 0.72 RobotUnderwaterControl theory (sociology)Nonlinear systemMotion control
• New acoustic positioning system for an underwater robot using multiple frequencies
  crossref XiuJing Gao, Feifei Zhang, Masanori Ito 2012-02-21T12:20:52Z 置信度 0.70
• Real-time optical SLAM-based mosaicking for unmanned underwater vehicles
  crossref Fausto Ferreira, Gianmarco Veruggio, Massimo Caccia, Gabriele Bruzzone 2011-11-25T11:00:31Z 置信度 0.70
• Terrain-Based Navigation for Underwater Vehicles Using an Ultrasonic Scanning System
  crossref John Lygouras, Vassilis Kodogiannis, Theodoros Pachidis, Panagiotis Liatsis 2008-08-23T23:07:48Z 置信度 0.70
• Educational Soft Underwater Robot with an Electromagnetic Actuation
  As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or replic…
  pubmed Robert Hennig, Alex Beaudette, Holly M. Golecki, Conor J. Walsh 等 2024 置信度 0.82
• Development in Underwater Robots
  crossref G. F. Schultheiss 2017-11-03T12:13:30Z 置信度 0.70
• Underwater Depth Estimation for Spherical Images
  This paper proposes a method for monocular underwater depth estimation, which is an open problem in robotics and computer vision. To this end, we leverage publicly available in-air RGB-D image pairs for underwater depth estimation in the spherical domain with …
  crossref Jiadi Cui, Lei Jin, Haofei Kuang, Qingwen Xu 等 2021-06-18T19:35:05Z 置信度 0.70
• Robust Vision-Based Underwater Target Identification and Homing Using Self-Similar Landmarks
  crossref Amaury Negre, Cédric Pradalier, Matthew Dunbabin 2008-08-20T15:39:11Z 置信度 0.70
• Minimum energy trajectory for an underwater manipulator and its simple planning method by using a Genetic Algorithm
  crossref Eiji Shintaku 2009-07-01T00:29:28Z 置信度 0.70
• Digital RAC with a disturbance observer for underwater vehicle-manipulator systems
  crossref Shinichi Sagara, Takashi Yatoh, Tomoaki Shimozawa 2010-10-05T10:03:22Z 置信度 0.70
• Effectiveness Assessment of Underwater Area Cruise Based on the ADC Method
  ABSTRACT Underwater area surveillance plays a crucial role in upholding national security, safeguarding strategic interests, and mitigating potential threats. Despite its significance, a notable gap persists in the availability of comprehensive models for asse…
  crossref Qingwei Liang, Yuxin Lin, Mingyang Luo, Zhanghong Zeng 2026-07-06T06:02:21Z 置信度 0.70
• Basic interaction operations for an underwater vehicle-manipulator system
  crossref Elisabetta Cataldi, Gianluca Antonelli 2015-09-11T04:36:27Z 置信度 0.70
• Interaction Control of UVMSs
  crossref Gianluca Antonelli 2013-11-22T14:21:01Z 置信度 0.70
• Profile Following for Inspection of Underwater Structures
  Abstract We present a seabed profile estimation and following method for close proximity inspection of 3D underwater structures using autonomous underwater vehicles (AUVs). The presented method is used to determine a path allowing the AUV to pass its sensors o…
  crossref Enric Galceran, Narcís Palomeras, Marc Carreras 2015-04-20T13:46:00Z 置信度 0.70
• ROBOTICS TOOLS FOR UNDERWATER ARCHAEOLOGY
  crossref G. CONTE, S. ZANOLI, D. SCARADOZZI, L. GAMBELLA 2010-07-29T09:52:02Z 置信度 0.70
• Evaluating the Impact of an Underwater Robotics Competition: Questions, Methodologies, and Findings
  crossref Candiya Mann 2020-09-03T20:40:12Z 置信度 0.70
• Robotics vision-based system for an underwater pipeline and cable tracker
  crossref Mehdi Narimani, Soroosh Nazem, Mehdi Loueipour 2009-10-06T19:19:08Z 置信度 0.70
• Distributed Communicative Exploration under underwater communication constraints
  crossref Rathnam, Andreas Birk 2011-12-22T21:55:06Z 置信度 0.70
• Underwater Robot Localization using Artificial Visual Landmarks
  Accurate localization for underwater robot is a big challenge in the mobile robot community. We will use acoustic and visual-based approaches to solve the problem. In this paper, we focuses on the artificial landmark visual-based localization. The robot carrie…
  openalex Pifu Zhang, E.E. Milios, J. Gu, Evangelos Milios 等 2005-10-24 置信度 0.72 UnderwaterArtificial intelligenceComputer scienceComputer visionRobot
• Visual Diver Recognition for Underwater Human-Robot Collaboration
  crossref Youya Xia, Junaed Sattar 2019-08-13T01:26:12Z 置信度 0.70
• Visual servoing techniques applied to an underwater vehicle
  crossref P. Rives, J.-J. Borrelly 2002-11-22T18:04:31Z 置信度 0.70
• LightByte: Communicating Wirelessly with an Underwater Robot using Light
  crossref Robert Codd-Downey, Michael Jenkin 2018-09-14T10:57:08Z 置信度 0.70
• Modeling and control for underwater robotic manipulators - an example
  A closed form dynamic model of an autonomous underwater robotic vehicle (URV) with multiple manipulators is derived in this paper. The model components include the vehicle body, the m manipulators with n/sub i/ links for each manipulator. It is a generic model…
  openalex T.J. Tarn, S.P. Yang, S. P. Yang 2002-11-22 置信度 0.72 Control theory (sociology)AccelerationNonlinear systemUnderwaterScheme (mathematics)
• Self-Supervised Monocular Depth Underwater
  crossref Shlomi Amitai, Itzik Klein, Tali Treibitz 2023-07-04T17:20:56Z 置信度 0.70
• Communication Structures in Underwater Swarm Robotics Systems
  A swarm of robots has unique characteristics that allow it to handle complex tasks efficiently. In this work, the deployment of a swarm of robots in a body of water is studied using computer simulations to track and identify sources of plume pollution. The wat…
  crossref Rini Jain, Kiyn Chin 2025-08-25T19:07:29Z 置信度 0.70
• An improved time delay controller for underwater robot
  crossref Jiansheng Xu, Cenyu Yang 2012-04-13T15:36:46Z 置信度 0.70
• CPG-based Control of a Turtle-like Underwater Vehicle
  crossref Keehong Seo, Soon-Jo Chung, Jean-Jacques Slotine 2016-01-03T02:39:48Z 置信度 0.70
• Color-Accurate Underwater Imaging Using Perceptual Adaptive Illumination
  crossref Iuliu Vasilescu, Carrick Detweiler, Daniela Rus 2018-12-27T19:42:18Z 置信度 0.70
• Autonomous control of underwater offshore vehicles
  crossref Hongde Qin, Yanchao Sun 2020-10-16T02:32:09Z 置信度 0.70
• Upper Division Students Teaching Engineering Skills to Lower Division Students through Underwater Robotics
  crossref Andrew Hostler, Bridget Benson 2024-02-08T17:21:26Z 置信度 0.70
• 4. Fault Detection/Tolerance Strategies for AUVs and ROVs
  crossref Gianluca Antonelli 2006-08-02T14:50:52Z 置信度 0.70
• MSOE Underwater Robotics: The Mosquito
  The MSOE ROV team is a fourth year student organization at the Milwaukee School of Engineering that competed at an international ROV competition that took place at the NASA Neutral Buoyancy Lab. The goal was to create an ROV that could complete tasks that simu…
  crossref Allison Marie Ahern 2023-12-14T15:30:35Z 置信度 0.70
• Adaptive control of underwater vehicle-manipulator systems using radial basis function networks
  crossref Yuichiro Taira, Masahiro Oya, Shinichi Sagara 2012-07-13T15:10:20Z 置信度 0.70
• Underwater Robots
  openalex Hyun-Taek Choi, Junku Yuh, Hyun‐Taek Choi 2016-01-01 置信度 0.72 SubseaUnderwaterRobotMarine engineeringRemotely operated underwater vehicle
• New dual-mode SDE for underwater acoustic channels
  crossref Liu Yan 2012-12-01T02:14:13Z 置信度 0.70
• An Open-Source Underwater Robotics Platform for Aquatic Research &amp; Exploration
  crossref Scott Mayberry, Jinzhi Cai, Ruochu Yang, Junkai Wang 等 2025-03-24T23:44:43Z 置信度 0.70
• Dynamic Control of UVMSs
  crossref Gianluca Antonelli 2013-11-22T14:21:01Z 置信度 0.70